Projectorless simulator with adjustable size canopy

ABSTRACT

A projectorless simulator that includes an adjustable frame is disclosed. The adjustable frame defines an interior volume, and is adjustable in width and height to allow a shape of the interior volume to be varied. A chromakey screen is coupled to the adjustable frame to at least partially enclose the interior volume. A plurality of lights is mounted with respect to the adjustable frame. The plurality of lights is configured to emit light in a direction toward the chromakey screen.

TECHNICAL FIELD

The embodiments relate generally to simulations, and in particular to aprojectorless simulator that includes an adjustable size canopy.

BACKGROUND

Commercial simulators, such as flight simulators, are often relativelylarge systems that require a substantial amount of space. A flightsimulator, for example, may include a large dome on which imagery isprojected, and may include multiple projectors and image generators,which are costly, require a substantial amount of power, and generate asubstantial amount of heat, which in turn increases environmentalcooling requirements. As an example, one known flight simulator utilizes25 projectors and requires a dome that is 20 feet in diameter, andutilizes 314 square feet of space. Such size requirements can limit thelocations at which the simulator can be used. For example, it may bedifficult to deploy such a simulator in a vehicle that has limitedspace, such as a ship.

The use of a dome may also require special focus adjustments to anyheads-up display (HUD) apparatus used in the simulator to make the HUDapparatus focus at the distance of the dome, increasing simulatorconfiguration complexity.

SUMMARY

The embodiments implement a projectorless simulator, which includes anadjustable size canopy that occupies relatively little space compared toconventional domed simulators, and whose size is field-adjustable.

In one embodiment, a projectorless simulator that includes an adjustableframe is disclosed. The adjustable frame defines an interior volume, andis adjustable in width and height to allow a shape of the interiorvolume to be varied. A chromakey screen is coupled to the adjustableframe to at least partially enclose the interior volume. A plurality oflights is mounted with respect to the adjustable frame. The plurality oflights is configured to emit light in a direction toward the chromakeyscreen.

Those skilled in the art will appreciate the scope of the disclosure andrealize additional aspects thereof after reading the following detaileddescription of the embodiments in association with the accompanyingdrawing figures.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawing figures incorporated in and forming a part ofthis specification illustrate several aspects of the disclosure and,together with the description, serve to explain the principles of thedisclosure.

FIG. 1 is a block diagram of an environment in which embodiments may bepracticed;

FIG. 2 is a flowchart of a method for automatic cockpit identificationand augmented image placement according to one embodiment;

FIG. 3 is a side view of a see-through head-mounted display (HMD) deviceaccording to one embodiment;

FIGS. 4A-4B are perspective views of a video see-through HMD deviceaccording to one embodiment;

FIG. 5 illustrates the simulator cockpit illustrated in FIG. 1;

FIG. 6 illustrates the simulator cockpit illustrated in FIG. 1 accordingto another embodiment;

FIG. 7 illustrates a view during a simulation that may be presented by adisplay system to a user according to one embodiment;

FIG. 8 illustrates a view during a simulation that may be presented bythe display system to the user according to another embodiment; and

FIG. 9 is a block diagram of an HMD device according to one embodiment;

FIG. 10 is a perspective view of a projectorless simulator that includesan adjustable size canopy according to one embodiment;

FIG. 11 is a schematic diagram of a cross-section of the adjustable sizecanopy according to one embodiment;

FIG. 12 is a schematic diagram of the adjustable size canopy accordingto one embodiment;

FIGS. 13A-13B are perspective views of a portion of an adjustable frameaccording to another embodiment;

FIG. 14 is a schematic diagram illustrating cooperation and adjustmentof a first rail and a second rail illustrated in FIG. 13 according toone embodiment;

FIG. 15 is a block diagram identifying various components of theprojectorless simulator according to one embodiment;

FIG. 16 is a diagram illustrating a view provided to a user via the HMDdevice illustrated in FIG. 1 that includes real-time imagery of aninstructor according to one embodiment;

FIG. 17 is a schematic diagram illustrating additional aspects of theprojectorless simulator according to one embodiment;

FIG. 18 is a diagram illustrating a single seat configuration accordingto one embodiment; and

FIG. 19 is a diagram illustrating a multiple seat configurationaccording to another embodiment.

DETAILED DESCRIPTION

The embodiments set forth below represent the information to enablethose skilled in the art to practice the embodiments and illustrate thebest mode of practicing the embodiments. Upon reading the followingdescription in light of the accompanying drawing figures, those skilledin the art will understand the concepts of the disclosure and willrecognize applications of these concepts not particularly addressedherein. It should be understood that these concepts and applicationsfall within the scope of the disclosure and the accompanying claims.

Any flowcharts discussed herein are necessarily discussed in somesequence for purposes of illustration, but unless otherwise explicitlyindicated, the embodiments are not limited to any particular sequence ofsteps. The use herein of ordinals in conjunction with an element issolely for distinguishing what might otherwise be similar or identicallabels, such as “first rail” and “second rail,” and does not imply apriority, a type, an importance, or other attribute, unless otherwisestated herein. The term “about” used herein in conjunction with anumeric value means any value that is within a range of ten percentgreater than or ten percent less than the numeric value.

As used herein and in the claims, the articles “a” and “an” in referenceto an element refers to “one or more” of the element unless otherwiseexplicitly specified.

The embodiments relate to a head-mounted display (HMD) device thatautomatically identifies a simulator cockpit located in front of the HMDdevice, and automatically determines where to place computer-generatedimagery with respect to the simulator cockpit. The computer-generatedimagery is overlaid on top of a real-world scene presented to a user bya display device. The computer-generated imagery may be cockpit imageryof a simulator cockpit, out-the-window (OTW) imagery, or a combinationof cockpit imagery and OTW imagery. For example, computer-generatedcockpit imagery may be generated and sent to the display system tooverlay a portion of the simulator cockpit. Computer-generated OTWimagery may be generated and sent to the display system to overlay anOTW area of the simulator.

In some embodiments, the HMD device detects movements of the user, suchas user movements to activate a cockpit control, and in response,generates computer-generated imagery based on the cockpit controlactivation, and overlays the computer-generated imagery on top of areal-world scene presented to the user. Among other advantages, theembodiments reduce the costs of simulators by simulating electroniccomponents of a cockpit such that the simulator cockpit may be devoid ofelectronics, and in some embodiments, may eliminate the need forprojectors that present OTW imagery to the user.

The embodiments also include a projectorless simulator that includes anadjustable size canopy that occupies relatively little space compared toconventional domed simulators and whose size is field-adjustable.

FIG. 1 is a block diagram of an environment 10 in which embodiments maybe practiced. The environment 10 includes a head-mounted display (HMD)device 12 and a simulator 14. The simulator 14 includes a simulatorcockpit 16, and an OTW area 18. The term “cockpit” as used herein refersto any instrument panel in any vehicle, whether an air vehicle, groundvehicle, or water vehicle. For example, the term “cockpit” as usedherein encompasses the instrument panels and controls found in anairplane, a truck, a submarine, a ship, and the like. The HMD device 12includes a display system 20. In a video see-through embodiment, thedisplay system 20 includes a pixilated display screen 22 on which amixture of real-world imagery of a real-world scene 23 andcomputer-generated imagery can be presented to a user 24. The phrase“real-world imagery” as used herein refers to substantially real-timeimagery captured by a video camera (discussed below). The phrase“real-world scene” refers to the real world that is present about theuser 24 from the perspective of the HMD device 12, and includes, forexample, the simulator cockpit 16 and the OTW area 18.

In a see-through embodiment, the display system 20 includes a lens 26and a display device 28. The lens 26 is transparent, thus presents atleast a portion of the real-world scene 23 to the user 24, and has areflective interior surface such that the display device 28 can projectcomputer-generated imagery onto particular portions of the reflectiveinterior surface to overlay the computer-generated imagery on top ofportions of the real-world scene. In some embodiments, the displaydevice 28 can be a liquid crystal display (LCD), liquid crystal onsilicon (LCOS), or other suitable display device. The lens 26, in someembodiments, may be manufactured in accordance with the principlesdisclosed in U.S. Pat. No. 8,781,794, which is hereby incorporated byreference herein.

The HMD device 12 includes a frame 30 to which the display system 20 maybe coupled or otherwise attached. The frame 30 includes a structure thatis mountable to the head of the user 24. The structure may comprise, forexample, a head strap or a pair of arms that extend on each side of theuser 24's head and engage ears of the user 24. A stereo depth camerasystem 32 is coupled to the frame 30 and has a camera field-of-view(FOV) that defines a volume within the real-world scene 23 that can beperceived by the stereo depth camera system 32 at any instance in time.The stereo depth camera system 32 is configured to generate stereo depthcamera information comprising frames of imagery of the real-world scene23 within the camera FOV, and depth data that identifies a distance tothings in the real-world scene 23, such as the simulator cockpit 16, forexample. The stereo depth camera system 32 may comprise, for example, aZED mini, available from Stereolabs Inc., 95 Federal Street, SanFrancisco, Calif. 94107, or any other suitable camera capable ofgenerating imagery of a scene and depth data that that identifies adistance to things in the scene.

The HMD device includes, or is communicatively coupled to, a processordevice 34. The processor device 34 is configured to implement much ofthe processing discussed herein. The processor device 34 iscommunicatively coupled to the display system 20 and the stereo depthcamera system 32. The processor device 34 may be directly coupled to theframe 30, or in other embodiments, may be physically remote from theframe 30, such as in a same room as the simulator 14, andcommunicatively coupled to the display system 20 and the stereo depthcamera system 32 wirelessly or via data communication cables.

The processor device 34 is communicatively coupled to a memory 36 thatincludes a cockpit model database 38. The cockpit model database 38stores a plurality of cockpit models 40-1, 40-2-40-N (generally, cockpitmodels 40), each of which corresponds to a particular simulator cockpit16. For example, the cockpit model 40-1 may correspond to a F-35 JointStrike Fighter simulator cockpit 16, the cockpit model 40-2 to a C-130simulator cockpit 16, and the cockpit model 40-N to a Blackhawkhelicopter simulator cockpit 16. The memory 36 may also be physicallycoupled to the frame 30 or located elsewhere.

In some embodiments the cockpit model 40-1 may include a uniqueidentifier (ID) 42. As discussed in greater detail below, the simulatorcockpit 16 may bear indicia, and the processor device 34 may detect theindicia, and match the indicia to a corresponding unique ID 42 of aparticular cockpit model 40. The cockpit model 40-1 may also include acockpit pattern 44. As discussed in greater detail below, the processordevice 34 may analyze a pattern of the elements of the simulator cockpit16 detected in the stereo depth camera information generated by thestereo depth camera system 32 against the predetermined cockpit pattern44 to determine that the cockpit model 40-1, for example, corresponds tothe simulator cockpit 16.

The cockpit model 40-1 may also include simulator layout information 46that identifies a structural layout of the simulator 14. The simulatorlayout information 46 may contain, for example, dimensional and locationinformation regarding aspects of the simulator 14, such as the precisedimensions of the simulator cockpit 16 and the OTW area 18. Suchinformation may be used by the processor device 34, for example, toappropriately position computer-generated OTW imagery and/orcomputer-generated cockpit imagery such that the computer-generatedimagery is presented to the user 24 to properly overlay thecomputer-generated imagery on top of portions of the real-world scene23.

The cockpit model 40-1 also includes a plurality of cockpit elemententries 48. Cockpit element entries 48 correspond to particular featuresof the simulator cockpit 16, and may correspond to, for example,switches or dials located on the simulator cockpit 16, structuralfeatures of the simulator cockpit 16, and the like. The cockpit elemententries 48 may contain state information for cockpit controls thatcorrespond to the simulator cockpit 16, such as the position of a switchor dial, and may contain renderable data used to render imagery of thecorresponding cockpit element. The cockpit element entries 48 may alsoinclude location information and dimensional information that identifieswhere on the simulator cockpit 16 the corresponding cockpit element islocated, the size of the corresponding cockpit element, and any otherinformation suitable and/or necessary for the processor device 34 togenerate computer-generated imagery and cause the computer-generatedimagery to overlay the computer-generated imagery on top of thereal-world scene that depicts the corresponding cockpit element of thesimulator cockpit 16. While not shown for purposes of simplicity, theother cockpit models 40-2-40-N contain similar information thatcorresponds to the particular actual cockpit to which the cockpit models40-2-40-N correspond.

The simulator cockpit 16 may, for example, comprise a three-dimensional(3D) printed cockpit that accurately structurally simulates a particularcockpit of a corresponding vehicle, such as an aircraft. The 3D printedcockpit may include movable parts, such as a movable switch or dial, andareas for multi-function devices, such as touch-screen displays that, inthe corresponding real cockpit, can both present information and receiveinput from a pilot. The simulator cockpit 16 may be completely devoid ofany electronics.

FIG. 2 is a flowchart of a method for automatic cockpit identificationand augmented image placement according to one embodiment. FIG. 2 willbe discussed in conjunction with FIG. 1. Assume that the user 24 sits ina seat (not illustrated) of the simulator cockpit 16 and faces thesimulator cockpit 16. The stereo depth camera system 32, coupled to theframe 30, and which has a camera FOV, generates stereo depth camerainformation comprising frames of imagery of that portion of thereal-world scene 23 within the camera FOV, and generates depth data thatidentifies a distance to the simulator cockpit 16 of the simulator 14(FIG. 2, block 1000). The processor device 34 analyzes the stereo depthcamera information and identifies, from the plurality of differentcockpit models 40-1-40-N, the particular cockpit model 40-1 thatcorresponds to the simulator cockpit 16 (FIG. 2, block 1002). Thecockpit model 40-1 identifies a layout of cockpit controls of thesimulator cockpit 16. In one example, the processor device 34 mayutilize pattern matching techniques to match patterns identified in theframes of imagery of the simulator cockpit 16 against the cockpitpatterns 44 of the cockpit models 40. The processor device 34 generatescomputer-generated cockpit imagery 50 based at least in part on thecockpit model 40-1 and a physical location of the simulator cockpit 16(FIG. 2, block 1004). The processor device 34 sends thecomputer-generated cockpit imagery 50 to the display system 20 tooverlay the computer-generated cockpit imagery 50 on top of a portion ofthe real-world scene 23 presented by the display system 20 (FIG. 2,block 1006).

The embodiments work in conjunction with different types of simulators,and, as discussed previously, different types of display systems 20,such as see-through display systems 20 as well as video see-throughdisplay systems 20. In one embodiment, the simulator 14 may include aprojection screen 52 that is positioned in front of the simulatorcockpit 16. Projectors (not illustrated), may present on the projectionscreen 52 OTW imagery 54, as illustrated for example in a compositeimage 56 presented to the user 24 via the display system 20. The OTWimagery 54 simulates what a pilot would see outside of the simulatorcockpit 16. In this embodiment, the OTW imagery 54 is part of thereal-world scene 23 perceived by the display system 20 since the displaysystem 20 does not generate the OTW imagery 54 in this embodiment. Thus,the display system 20 presents the real-world scene 23 which includesthe OTW imagery 54 to the user 24, but overlays portions of thereal-world scene 23 with the computer-generated cockpit imagery 50 atlocations of the simulator cockpit 16 that correspond to cockpitcontrols, such that the user 24 perceives what appears to be an actualoperating cockpit.

In other examples, the simulator 14 may not include the projectionscreen 52, and the processor device 34, based on the simulator layoutinformation 46 and the determined location of the simulator cockpit 16based on the stereo depth camera information, may generatecomputer-generated OTW imagery. The processor device 34 overlays thereal-world scene 23 with the computer-generated OTW imagery as well aswith the computer-generated cockpit imagery 50.

In other examples, the simulator 14 includes the screen 52, and one ormore lights, such as infrared (IR) lights, either front or rearprojected, illuminate the projection screen 52. The processor device 34detects the IR wavelengths via the imagery provided by the stereo depthcamera system 32, or, in some embodiments, via additional IRsensors/camera(s) coupled to the frame 30, generates thecomputer-generated OTW imagery 54, and overlays the computer-generatedOTW imagery 54 on top of the IR imagery for presentation to the user 24.

In a video see-through embodiment, the processor device 34 receivesreal-world imagery of the real-world scene 23 via the stereo depthcamera system 32. In some examples, the processor device 34 may processthe real-world imagery prior to presenting any of the real-world imageryon the display screen 22 to ensure that the real-world imagery is a moreaccurate depiction of what would be seen by the user 24 if the displayscreen 22 were transparent. For example, the processor device 34 maywarp the real-world imagery to adjust (or compensate) for variousoptical components, such as optical components of the stereo depthcamera system 32, and/or the real-world imagery may be transformed toaccount for a difference in FOV between the eyes of the user 24 and thatof the stereo depth camera system 32.

In some embodiments, the processor device 34 processes the real-worldimagery by re-projecting the real-world imagery into three-dimensionalspace 1) to account for a difference in the location of the stereo depthcamera system 32 and the eyes of the user 24, 2) to account fordifferences in FOV of the stereo depth camera system 32 and the eyes ofthe user 24, 3) to correct for warp and color shift from the optics ofthe stereo depth camera system 32 and the optics of the display screen22, 4) to account for head movement of the user 24 during the briefinterval of time since the real-world imagery was captured, and 5) toaccount for predicted head movement of the user 24 during the time ittakes for the display screen 22 to display the image.

The processor device 34 generates computer-generated imagery, such ascomputer-generated OTW imagery and/or computer-generated cockpitimagery, and overlays portions of the processed real-world imagery togenerate augmented imagery that includes the real-world imagery and thecomputer-generated imagery. The processor device 34 sends the augmentedimagery to the display screen 22. The locations of thecomputer-generated imagery within the real-world imagery is based on thecockpit model 40-1 and the actual location, including distance, of thesimulator cockpit 16 from the head of the user 24, as determined, forexample, via the stereo depth camera information. Note that the stereodepth camera system 32 generates the stereo depth camera information ata particular rate, such as 30, 60, or 120 frames per second,continuously during the simulation.

In a see-through embodiment, the user 24 is presented with thereal-world scene 23 directly through the lens 26. The processor device34 still receives real-world imagery of the real-world scene 23 via thestereo depth camera system 32. The processor device 34 generatescomputer-generated imagery, such as computer-generated OTW imageryand/or computer-generated cockpit imagery, and causes the display device28 to reflect the computer-generated imagery off of portions of theinterior surface of the lens 26 such that the computer-generated imageryoverlays portions of the real-world scene to generate augmented imagery.The locations on the interior surface of the lens 26 of thecomputer-generated imagery are based on the cockpit model 40-1 and theactual location, including distance, of the simulator cockpit 16 fromthe head of the user 24, as determined, for example, via the stereodepth camera information.

FIG. 3 is a side view of a see-through HMD device 12 according to oneembodiment. The HMD device 12 includes the frame 30. The frame 30 hasthe stereo depth camera system 32, which in this example includes twocameras, one on each side of the frame 30 (only one illustrated). Thedisplay device 28 is coupled to the frame 30, and projectscomputer-generated imagery onto an interior surface 58 of the lens 26.In one embodiment, embedded within or attached to the frame 30 are theprocessor device 34 and the memory 36. In other embodiments, theprocessor device 34 and the memory 36 may be remote from the frame 30,but communicatively coupled to the stereo depth camera system 32 anddisplay device 28 wirelessly, or via a communications cable 60.

FIGS. 4A-4B are perspective views of a video see-through HMD device 12according to one embodiment. FIG. 4A illustrates the frame 30, which inthis embodiment includes a head strap 62 for fixing the HMD device 12 tothe head of the user 24. In this embodiment, the stereo depth camerasystem 32 includes two separate cameras. A plurality of IR sensors 64are also coupled to the frame 30. The IR sensors 64 may be used, forexample, to gather depth information. In one embodiment, embedded withinor attached to the frame 30 are the processor device 34 and the memory36. In some embodiments, the video see-through HMD device 12 may includeadditional cameras, such as one or more wide FOV cameras that have awider FOV than that of the stereo depth camera system 32. In suchembodiments, real-world imagery received from each of the variouscameras may be merged together to generate real-world imagery within arelatively wide FOV that can be presented to the user 24.

FIG. 4B illustrates the reverse side of the video see-through HMD device12 that fits over the face of the user 24. In this embodiment, the user24 views real-world imagery and computer-generated imagery presented onthe display screen 22 contained in an interior of the HMD device 12.

FIG. 5 illustrates the simulator cockpit 16 illustrated in FIG. 1. Thesimulator cockpit 16 includes a plurality of simulated controls,including simulated buttons/switches/dials 66, and simulatedmulti-function displays (MFDs) 68. The simulator cockpit 16 may bedevoid of any electronics. Some or all of the buttons/switches/dials 66may be movable, such as being rotatable, being able to slide, being ableto toggle between two positions, being depressed, or the like, torealistically simulate the movement of cockpit controls in an actualcockpit. The user 24 sits in a cockpit seat (not illustrated) and facesthe simulator cockpit 16. The stereo depth camera system 32 generatesthe stereo depth camera information. The processor device 34, in oneembodiment, may utilize the stereo depth camera information to generatea cockpit pattern based on the layout of the simulator cockpit 16. Thecockpit pattern may be based on, for example, the shape of a perimeter70, the locations of the MFDs 68, the locations and shapes of thebuttons/switches/dials 66, and the like. The processor device 34 maythen compare the generated cockpit pattern to the predetermined cockpitpatterns 44 stored in the cockpit models 40 to automatically, withouthuman involvement, identify the particular cockpit pattern 44 of thecockpit model 40-1 as matching the simulator cockpit 16. Based on thecockpit model 40-1, and the continuously received stereo depth camerainformation, the processor device 34 can generate computer-generatedimagery and cause the computer-generated imagery to overlay desiredportions of the real-world scene 23 that would otherwise be presented tothe user 24.

FIG. 6 illustrates the simulator cockpit 16 illustrated in FIG. 1according to another embodiment. The simulator cockpit 16 issubstantially identical to the cockpit 16 illustrated in FIGS. 1 and 5except as otherwise noted herein. In this embodiment, the simulatorcockpit 16 bears indicia 72. The indicia 72 may be any type ofidentifier, including, for example, a bar code, an alphanumericsequence, a quick response (QR) code, or the like. The stereo depthcamera system 32 generates the stereo depth camera information whichcomprises frames of imagery. The processor device 34 identifies theindicia 72 in the imagery, and compares the indicia 72 to the unique IDs42 stored in the cockpit models 40 to automatically, without humaninvolvement, identify the particular unique ID 42 of the cockpit model40-1 as matching the indicia 72. Based on the cockpit model 40-1, andthe continuously received stereo depth camera information, the processordevice 34 can generate computer-generated imagery and cause thecomputer-generated imagery to overlay desired portions of the real-worldscene 23 that would otherwise be presented to the user 24.

FIG. 7 illustrates a view 74 during a simulation that may be presentedby the display system 20 to the user 24 according to one embodiment. Theportions of the view 74 that are part of the real-world scene and theportions of the view 74 that are computer-generated imagery may differdepending on the particular system. For example, as discussed above, anOTW portion 76 may be, in one example, computer-generated OTW scenerythat is generated by the processor device 34. In other examples, the OTWportion 76 may be imagery that is presented on a screen, such as a domedscreen, via external projectors. In such examples, to the HMD device 12,the OTW portion 76 is a part of the real-world scene and is passed tothe user 24 without modification and without overlayingcomputer-generated imagery on top of the OTW portion 76 by the processordevice 34.

In some embodiments, cockpit portions 78, for example, may becomputer-generated cockpit imagery generated by the processor device 34and overlaid on top of the corresponding cockpit controls of thesimulator cockpit 16. Other portions of the simulator cockpit 16, suchas a cockpit portion 80, may be presented by the display system 20 asis, without the overlay of any computer-generated imagery. Theparticular OTW and cockpit portions that are to be overlaid withcomputer-generated imagery may be, for example, identified in thecorresponding cockpit model 40. Thus, for a first simulator cockpit 16,the processor device 34 may generate computer-generated OTW imagery, butallow the user 24 to view the simulator cockpit 16 as part of thereal-world scene. For a second simulator cockpit 16, the processordevice 34 may generate computer-generated cockpit imagery, but allow theuser 24 to view the OTW area 18 as part of the real-world scene. For athird simulator cockpit 16, the processor device 34 may generatecomputer-generated OTW imagery and computer-generated cockpit imagery.

FIG. 8 illustrates a view during a simulation that may be presented bythe display system 20 to the user 24 according to another embodiment. Inthis embodiment, the user 24 touches a cockpit control 82 of thesimulator cockpit 16. The processor device 34 detects the movement of anarm 84 and hand of the user 24 into the scene that is within the FOV ofthe display system 20, and, in one embodiment, may dynamically generatea mask that is coextensive with the arm 84 and hand of the user 24 toinhibit the overlay of computer-generated imagery on top of the arm 84and hand such that the user 24 can see their own arm and hand via thedisplay system 20.

The processor device 34, based on the imagery generated by the stereodepth camera system 32 and based on the cockpit model 40-1, determinesthat a particular cockpit control has been contacted by the user 24. Inthis example, assume that the cockpit control contacted by the user 24is a cockpit control for which the processor device 34 generatescomputer-generated cockpit imagery. The processor device 34 then altersthe computer-generated cockpit imagery to show the cockpit control asbeing activated, such as rotated, depressed, or the like.

FIG. 9 is a block diagram of the HMD device 12 illustrated in FIG. 1showing additional components according to one embodiment. The HMDdevice 12 may include a storage device 86, which provides non-volatilestorage of data, data structures, computer-executable instructions, andthe like. The storage device 86 may include, for example, the cockpitmodel database 38, and a computer program product that includes complexprogramming instructions, such as complex computer-readable programcode, to cause the processor device 34 to carry out the steps describedherein. Thus, the computer-readable program code can comprise softwareinstructions for implementing the functionality of the embodimentsdescribed herein when executed on the processor device 34.

The HMD device 12 may also include one or more input controls 88, suchas buttons, via which the user 24 can interface with the HMD device 12.The input controls 88 may, for example, allow the user 24 to set certainconfiguration options of the HMD device 12. In one embodiment, theprocessor device 34, after determining the particular cockpit model 40of the plurality of cockpit models 40, as discussed above, may generateinformation that identifies the cockpit model 40 that was selected andpresent the information via the display system 20, and allow the user 24to confirm or reject the selection.

The HMD device 12 may also include one or more communications interfaces90 to facilitate communications with other devices in a simulationsystem. For example, in a simulation system where another computingdevice generates OTW imagery and presents such OTW imagery on a screen,the HMD device 12 may communicate with such other computing device toidentify the manipulation of cockpit controls which may alter the OTWimagery that is presented on the screen. For example, if the user 24rotates a control wheel to alter the direction of the aircraft, the OTWimagery will change to reflect the change in direction.

FIG. 10 is a perspective view of a projectorless simulator 92 thatincludes an adjustable size canopy 94 according to one embodiment. Theadjustable size canopy 94 includes an adjustable frame 96 that definesan interior volume 98. The adjustable frame 96 is adjustable in width,height, and length to allow a shape of the interior volume 98 to bevaried to simulate the interior of any desired vehicle, such as, by wayof non-limiting example, a single-person cockpit, a multiple-personcockpit, or the like. A chromakey screen (not illustrated in FIG. 10) iscoupled to the adjustable frame 96 to at least partially enclose theinterior volume 98, and a plurality of lights (not illustrated in FIG.10) is mounted with respect to the adjustable frame 96. The plurality oflights is configured to emit light, such as infrared light in a desiredwavelength or wavelength band, in a direction toward the chromakeyscreen. The projectorless simulator 92 may include the simulator cockpit16, which may be portable, and the user(s) 24 or participant(s) may usethe HMD device 12. In some embodiments, the projectorless simulator 92includes an observer (e.g., instructor) camera 99 that is configured tocapture real-time imagery of an observer who is located in theenvironment external to the projectorless simulator 92. As will bediscussed in greater detail below, the video generated by the observercamera 99 may be combined with computer generated simulation imageryseen by a participant in the projectorless simulator 92 to provide theparticipant with real-time instruction from the observer during asimulation.

FIG. 11 is a schematic diagram of a cross-section of the adjustable sizecanopy 94 according to one embodiment. The adjustable size canopy 94includes a back cover 100 that comprises an opaque material. In someembodiments, the back cover 100 is a dense material such as canvas, orthe like. The back cover 100 is configured to be placed around theadjustable frame 96 to inhibit light from an exterior environment 102from impinging on a chromakey screen 104. The adjustable frame 96includes a plurality of frame members 106. While the frame members 106are illustrated as having a circular cross-section, the frame members106 may have cross-sections of any shape. A light diffusion materiallayer 108 surrounds the chromakey screen 104 and is positioned betweenthe chromakey screen 104 and a plurality of lights 110 that are coupled,fixed, or otherwise attached to the frame members 106. The lightdiffusion material layer 108 serves to diffuse light emitted from theplurality of lights 110 to help spread the light across the chromakeyscreen 104. In some embodiments, the light diffusion material layer 108comprises a white translucent and/or a semi-transparent fabric, such asa thin nylon, or the like. While for purposes of illustration the lightdiffusion material layer 108 is illustrated as being spaced a distancefrom the chromakey screen 104, in other embodiments, the light diffusionmaterial layer 108 may be positioned immediately adjacent to thechromakey screen 104.

In some embodiments, the lights 110 emit IR electromagnetic radiation(EMR) onto the chromakey screen 104 (through the light diffusionmaterial layer 108). The HMD device 12 can detect the IR EMR that isemitted by the chromakey screen 104 into the interior volume 98 and,based on where the IR EMR is detected, determine what portions within afield of view of the camera are to be overlaid with computer-generatedimagery and provided to the participant.

The lights 110 may be positioned with respect to the frame members 106at a mean average angle to ensure that a maximum field of view (FOV) 112is projected onto the light diffusion material layer 108. The lights 110may be positioned along a length of each frame member 106 and therebymay be positioned completely about the chromakey screen 104. The lights110 may be physically attached to an exterior surface of the framemembers 106, as illustrated, or embedded within the frame members 106 toconform with a uniform external surface of the frame members 106.

One or more IR tracking sensors 114 may be attached at desired locationsalong one or more frame members 106. The IR tracking sensors 114 areconfigured to emit IR EMR through the chromakey screen 104 to detectmovement of a user 24 within the interior volume 98. The IR trackingsensors 114 may be communicatively coupled to the HMD device 12. The IRtracking sensors 114 may be configured to detect movement of a head ofthe user 24, and thereby, in conjunction with the HMD device 12,determine what imagery should be computer generated and provided to theuser 24. One or more of the IR tracking sensors 114 may also beconfigured to detect movement of a hand or hands of the user 24, andthereby determine that the user 24 has manipulated a cockpit control onthe simulator cockpit 16.

FIG. 12 is a schematic diagram of the adjustable size canopy 94according to one embodiment. In this embodiment, the adjustable frame 96includes a left frame portion 116-L, a center frame portion 116-C, and aright frame portion 116-R (generally, frame portions 116). The leftframe portion 116-L has a plurality of connectors 118 having a pluralityof connectors configured to couple to the center frame portion 116-C orthe right frame portion 116-R, and the right frame portion 116-R has aplurality of connectors 120 configured to couple to the center frameportion 116-C or the left frame portion 116-L. While only one centerframe portion 116-C is illustrated, any number of center frame portions116-C may be inserted between the left frame portion 116-L and the rightframe portion 116-R to make the adjustable frame 96 any desired size.

Similarly, the chromakey screen 104 comprises left screen portion 122-L,a center screen portion 122-C, and a right screen portion 122-R(generally, screen portions 122). Each of the screen portions 122 mayinclude the light diffusion material layer 108 and a layer of thechromakey screen 104. Each screen portion 122 may be pre-coupled to acorresponding frame portion 116.

FIG. 13A is a perspective view of another embodiment of the adjustableframe 96. The adjustable frame 96 includes a plurality of adjustablelength frame members 124, each frame member 124 including a first rail126 that is configured to slidably engage a second rail 128 to allow theadjustable length frame member 124 to be adjusted to a desired length.Sets of the lights 110 are coupled to either the first rail 126 or thesecond rail 128.

FIG. 13B is a perspective view illustrating the first rail 126 slidablyengaging the second rail 128. In this embodiment, a row of lights 127are positioned on a surface of the first rail 126. The lights 127 mayextend along the entire first rail 126. The lights 127 may also bepositioned on a surface 129 of the second rail 128. The second rail 128may be a relatively small segment used to join multiple first rails 126together, in some embodiments. Where the second rail 128 may overlap thelights 127 positioned on the first rail 126, additional lights 127 maybe provided on the surface 129.

FIG. 14 is a schematic diagram illustrating cooperation and adjustmentof the first rail 126 and second rail 128 illustrated in FIG. 13according to one embodiment. A first roller 130 is coupled to the firstrail 126. The light diffusion material layer 108 and the chromakeyscreen 104 are wrapped around the first roller 130. The first roller 130may include a torque mechanism, such as a spring or the like, thatmaintains tension on the light diffusion material layer 108 and thechromakey screen 104 in a direction 132.

The light diffusion material layer 108 and the chromakey screen 104 arecoupled to the second rail 128 via a second roller 134, and the lightdiffusion material layer 108 and the chromakey screen 104 unwrap fromthe first roller 130 in response to the second rail 128 being urged in adirection away from the first rail 126. A tensioner pulley 136 providestension to the light diffusion material layer 108 and the chromakeyscreen 104. The other end of the chromakey screen 104 may be wrappedaround a surface termination pulley 138. The chromakey screen 104 mayinclude a surface junction flap portion 140 that can be coupled to thechromakey screen 104, via hook and loop material for example, tominimize shadowing.

FIG. 15 is a block diagram identifying various components of theprojectorless simulator 92 according to one embodiment. Theprojectorless simulator 92 may include a computing device 142 that iscoupled to a simulation computer 144 via a simulation systeminput/output interface 146, such as a wired or wireless network. Aninstructor 148 operates the simulation computer 144 and observes theuser 24 via a simulation instructor display 150. The simulation computer144 is communicatively coupled to the HMD device 12 and the simulatorcockpit 16, and, as will be discussed in greater detail herein, mayprovide real-time imagery of the instructor 148 to the user 24 via theHMD device 12 during a simulation.

The adjustable frame 96 includes a width adapter 152-W, a length adapter152-L and a height adapter 152-H (generally, adapters 152) to vary thewidth, length, and height of the adjustable size canopy 94 on site asdesired. The adapters 152 may include the frame members 124 illustratedin FIG. 13 and/or the frame portions 116 illustrated in FIG. 12. Theprojectorless simulator 92 may also include, as will be discussed ingreater detail below, a mobility mechanism 154, such as wheels orcastors, to facilitate movement of the projectorless simulator 92 afterassembly.

FIG. 16 is a diagram illustrating a view 156 provided to the user 24 viathe HMD device 12 that includes real-time imagery 158 of the instructor148 according to one embodiment. The real-time imagery 158 may begenerated, for example, via the observer camera 99 (FIG. 10). Thereal-time imagery 158 is provided in conjunction with simulated imagery160. In some embodiments, the real-time imagery 158 may be provided inresponse to input from the instructor 148 via the simulation computer144 (FIG. 15). For example, the instructor 148 may observe what the user24 is viewing and doing, and decide that the user 24 requiresinstruction, and operate a UI control (not illustrated) that uponactivation causes the real-time imagery 158 to be provided to the HMDdevice 12. In other embodiments, the real-time imagery 158 may beprovided to the HMD device 12 in response to input from the user 24. Inparticular, the user 24 may be able to operate a control on the HMDdevice 12 that causes the real-time imagery 158 of the instructor 148 tobe provided to the HMD device 12. The size and location of the real-timeimagery 158 may be positionable within the view 156 by the user 24 viainteractions with the HMD device 12.

FIG. 17 is a schematic diagram illustrating additional aspects of theprojectorless simulator 92 according to one embodiment. Theprojectorless simulator 92 includes a plurality of telescoping legs 162that facilitates height adjustment of the projectorless simulator 92.The telescoping legs 162 may include rolling members, such as castors orwheels 164 to facilitate mobility of the projectorless simulator 92after assembly.

The projectorless simulator 92 may include one or more arrays 166 of IRtracking sensors 114 that facilitate tracking of body parts of users24-1, 24-2, such as heads and/or hands of the users 24-1, 24-2. Theprojectorless simulator 92 also includes arrays 168 of lights 110 thatemit light, such as IR light, toward and through the light diffusionmaterial layer 108 and the chromakey screen 104 into the interior volume98, where it can be detected by HMDs 12-1, 12-2.

FIG. 18 is a diagram illustrating a single seat configuration accordingto one embodiment.

FIG. 19 is a diagram illustrating a multiple seat configurationaccording to another embodiment.

Those skilled in the art will recognize improvements and modificationsto the preferred embodiments of the disclosure. All such improvementsand modifications are considered within the scope of the conceptsdisclosed herein and the claims that follow.

What is claimed is:
 1. A projectorless simulator comprising: anadjustable frame that defines an interior volume, the adjustable framebeing adjustable in width and height to allow a shape of the interiorvolume to be varied; a chromakey screen coupled to the adjustable frameto at least partially enclose the interior volume, the chromakey screenbeing positioned between the adjustable frame and the interior volumesuch that the adjustable frame is not exposed to the interior volume;and a plurality of lights attached to the adjustable frame, theplurality of lights being positioned outside of the interior volume andbeing configured to emit light in a direction toward the chromakeyscreen.
 2. The projectorless simulator of claim 1 further comprising: alight diffusion material layer separate from the chromakey screen, thelight diffusion material layer positioned between the plurality oflights and the chromakey screen.
 3. The projectorless simulator of claim1 wherein the plurality of lights is fixed to the adjustable frame. 4.The projectorless simulator of claim 1 further comprising: a pluralityof infrared (IR) tracking sensors mounted to the adjustable frame, theplurality of IR tracking sensors configured to emit IR electromagneticradiation (EMR) through the chromakey screen to detect movement of auser within the interior volume.
 5. The projectorless simulator of claim4 wherein at least some of the plurality of IR tracking sensors areconfigured to detect movement of a head of the user.
 6. Theprojectorless simulator of claim 4 wherein at least some of theplurality of IR tracking sensors are configured to detect movement of ahand of the user.
 7. The projectorless simulator of claim 1 wherein theadjustable frame further comprises: a plurality of telescoping legs; anda plurality of rolling members coupled to corresponding ones of theplurality of telescoping legs.
 8. The projectorless simulator of claim 1further comprising: a portable cockpit configured to be positioned inthe interior volume.
 9. The projectorless simulator of claim 1 furthercomprising a back cover comprising an opaque material, the back coverbeing configured to be placed around the adjustable frame to inhibitlight from an exterior environment from impinging on the chromakeyscreen.
 10. The projectorless simulator of claim 1 wherein theadjustable frame comprises: a plurality of adjustable length framemembers, each adjustable length frame member comprising a first railthat is configured to slide and engage a second rail to allow theadjustable length frame member to be adjusted to a desired length; andwherein at least some of the first rails of the plurality of adjustablelength frame members are coupled to sets of the plurality of lights thatare configured to emit light in the direction toward the chromakeyscreen.
 11. The projectorless simulator of claim 10 wherein at leastsome of the plurality of adjustable length frame members furthercomprise: a first roller coupled to the first rail, the chromakey screenwrapped around the first roller, wherein the chromakey screen is coupledto the second rail and the chromakey screen unwraps from the firstroller in response to the second rail being urged in a direction awayfrom the first rail.
 12. The projectorless simulator of claim 1 whereinthe adjustable frame further comprises: a left frame portion, a centerframe portion, and a right frame portion, the left frame portion havinga plurality of connectors configured to couple to the center frameportion or the right frame portion, and the right frame portion having aplurality of connectors configured to couple to the center frame portionor the left frame portion.
 13. The projectorless simulator of claim 12wherein the chromakey screen comprises a left screen portion, a centerscreen portion, and a right screen portion.
 14. The projectorlesssimulator of claim 1 further comprising a head-mounted display (HMD)device configured to be worn by a user.
 15. The projectorless simulatorof claim 14 further comprising a camera configured to capture real-timeimagery of an instructor, and wherein the HMD device is configured toreceive the real-time imagery of the instructor and to present thereal-time imagery of the instructor to the user in conjunction withsimulated out-the-window (OTW) imagery.
 16. The projectorless simulatorof claim 15 further comprising an instructor computing devicecommunicatively coupled to the HMD device, wherein the HMD device isconfigured to receive the real-time imagery of the instructor and topresent the real-time imagery of the instructor to the user inconjunction with the simulated OTW imagery in response to input from theinstructor.
 17. The projectorless simulator of claim 15 furthercomprising an instructor computing device communicatively coupled to theHMD device, wherein the HMD device is configured to receive thereal-time imagery of the instructor and to present the real-time imageryof the instructor to the user in conjunction with the simulated OTWimagery in response to input from the user.
 18. The projectorlesssimulator of claim 14 wherein the plurality of lights is furtherconfigured to emit IR EMR, and wherein the HMD device further comprises:an HMD frame; an IR sensor having an IR field of view (FOV) configuredto: detect the IR EMR emitted via the chromakey screen; and output an IRsensor signal that identifies where, within the IR FOV the IR EMR isdetected; a display system having a display system FOV coupled to theframe and configured to present a real-world scene to the user; and aprocessor device communicatively coupled to the IR sensor and to thedisplay system, configured to: generate out-the-window (OTW) imagery;and present the OTW imagery to the display system at locations withinthe display system FOV where the IR EMR was detected.
 19. Theprojectorless simulator of claim 18 wherein the display system comprisesa pixelated display screen comprising a plurality of pixels configuredto be positioned in front of the user's eyes.
 20. The projectorlesssimulator of claim 18 wherein the display system comprises: atransparent lens having a reflective interior surface configured to bepositioned in front of the user's eyes; and a display device coupled tothe frame, the display device configured to reflect images off thereflective interior surface into the eyes of the user.
 21. Theprojectorless simulator of claim 1 wherein the interior volume isenclosed on at least two sides and a ceiling by the chromakey screen.22. The projectorless simulator of claim 1 wherein the light emitted bythe plurality of lights comprises infrared light.